The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 18, 1994
Filed:
Mar. 30, 1993
Nippon Telegraph and Telephone Corporation, Tokyo, JP;
Abstract
The present invention provides a dynamic model parameter identification system consisting of a parameter classifying part and a motion planning part. The parameter classifying part approximates the respective links forming the manipulator by means of a symmetrical and homogeneous virtual solid link, calculates the inertial parameters, and finally classifies the calculated inertial parameters into parameter groups. The motion planning part calculates the condition number for the parameter coefficient sub-matrix, and calculates the number of equilibriums which is shown by the quotient of the maximum and minimum values of the vector normal of the rows of the coefficient sub-matrix. The motion planning section then sets the motion for parameter identification so that the condition number and number of equilibriums are both below predetermined values. Therefore, it is possible to identify the dynamic parameters of a robotic manipulator with a high degree of accuracy and without carrying out numerous trial-and-error experiments.